Development for NRF51

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Version: [ , 2024.10 , 2024.2 , 2023.11 , 2023.02 , 2022.12 , 2022.09 , 2022.05 ]

This page aims at documenting how to start developing with the Crazyflie 2.X NRF51 chip. Make sure that you have soldered the nrf debug connector first, which is provided with debug adapter kit (see the ‘usage’ tab)

nRF51

Clone the crazyflie2-nrf-firmware project.

Then make the firmware:

make clean
make

To flash, first install the cflib and cfclient, and put the CF2.X in bootloader mode.

To flash using the radio bootloader:

make cload

To flash using a programming cable:

make flash

NOTE: If your Crazyflie does not start up correctly after flashing, this might be indicating a problem with a mismatched bootloader version. Update your Crazyflie to the latest version using the cfclient, since this will also update your NRF bootloader to the latet version. Then try flashing your NRF firmware again

Debugging

Debugging the nRF51 chip requires a different configuration, but is otherwise identical to debugging the STM32. The alternative configuration can be found below.

NOTE: Make sure your executable (cf2_nrf.elf) is identical to the one running on your Crazyflie.

Debugging in VS Code

The Cortex Debug Configuration for nRF51 debugging is replaced with:

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "nRF51 Debug",
            "cwd": "${workspaceRoot}",
            "executable": "./cf2_nrf.elf",
            "request": "launch",
            "type": "cortex-debug",
            "device": "nrf51822",
            "servertype": "openocd",
            "interface": "swd",
            "configFiles": [
                "interface/stlink-v2.cfg",
                "target/nrf51.cfg"
            ],
            "runToEntryPoint": "true",
            "preLaunchCommands": [
                "set mem inaccessible-by-default off",
                "enable breakpoint",
                "monitor reset"
            ]
        }
    ]
}

Debugging in Eclipse

Replace cf2.elf with cf2_rbf.elf Replace target/stm32f4x.cfg with target/nrf51.cfg

Note on programming cables

For debugging and flashing without a radio an SWD cable is required. By default any cable supported by OpenODC can be used. The STLink-V2 is used by the Bitcraze team. Other cables like JLink can also be used but will require to manually enter the flashing command line and to modify your (VS Code/Eclipse) debugging configuration accordingly.

The SEGGER J-LINK can be used for debugging and flashing.

  • Download and install a recent version of OpenOCD, you will need at least version 0.9.

  • (Optional) Download and install (or extract) the J-Link Software. The following was tested with version 5.10u.W

    • If there is an error, you can execute the following once and type connect in the command prompt. This fixes issues in case openOCD left the J-Link in an invalid state.

    ./JLinkExe -device STM32F405RG -if swd -speed 4000